DeltaManipulator Directory Reference

Introduction

The Delta parallel manipulator is a 3 degrees-of-freedom parallel platform designed by Reymond Clavel. This folder includes two versions of this manipulator:

• DeltaManipulator.world which closely follows the original design. wW mainly use it for position analysis purposes.
• Delta_dynamics.world which is a simplified version where the four bar mechanisms in the legs are replaced by a couple of universal joints (the resulting mobility is the same). We use this version mainly for kinodynamic planning since it includes al the dynamic variables (masses, frictions, etc.).

Files
file	Delta_dynamics.world [code]
	A delta robot with dynamics.
file	Delta_dynamics2.world [code]
	A delta robot with dynamics.
file	DeltaManipulator.world [code]
	The Delta parallel manipulator.